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std::cout <<"/////////////////Definition////////////////"<<std::endl; /* Definition of vectors and matrices in Eigen comes in the following form: Eigen::MatrixSizeType Eigen::VectorSizeType Eigen::ArraySizeType Size can be 2,3,4 for fixed size square matrices or X for dynamic size Type can be: i for integer, f for float, d for double, c for complex, cf for complex float, cd for complex double. */ // Vector3f is a fixed column vector of 3 floats: Eigen::Vector3f objVector3f; // RowVector2i is a fixed row vector of 3 integer: Eigen::RowVector2i objRowVector2i; // VectorXf is a column vector of size 10 floats: Eigen::VectorXf objv(10); Eigen::Matrix4d m; // 4x4 double Eigen::Matrix4cd objMatrix4cd; // 4x4 double complex //a is a 3x3 matrix, with a static float[9] array of uninitialized coefficients, Eigen::Matrix3f a; //b is a dynamic-size matrix whose size is currently 0x0, and whose array of coefficients hasn't yet been allocated at all. Eigen::MatrixXf b; //A is a 10x15 dynamic-size matrix, with allocated but currently uninitialized coefficients. Eigen::MatrixXf A(10, 15); //V is a dynamic-size vector of size 30, with allocated but currently uninitialized coefficients. Eigen::VectorXf V(30); //Template style definition // Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic> &matrix Eigen::Matrix<double, 2, 3> my_matrix; my_matrix << 1, 2, 3, 4, 5, 6; // ArrayXf Eigen::Array<float, Eigen::Dynamic, 1> a1; // Array3f Eigen::Array<float, 3, 1> a2; // ArrayXXd Eigen::Array<double, Eigen::Dynamic, Eigen::Dynamic> a3; // Array33d Eigen::Array<double, 3, 3> a4; Eigen::Matrix3d matrix_from_array = a4.matrix(); std::cout <<"///////////////////Initialization//////////////////"<< std::endl; Eigen::Matrix2d a_2d; a_2d.setRandom(); a_2d.setConstant(4.3); Eigen::MatrixXd identity=Eigen::MatrixXd::Identity(6,6); Eigen::MatrixXd zeros=Eigen::MatrixXd::Zero(3, 3); Eigen::ArrayXXf table(10, 4); table.col(0) = Eigen::ArrayXf::LinSpaced(10, 0, 90); std::cout <<"/////////////Matrix Coefficient Wise Operations///////////////////"<< std::endl; int i,j; std::cout << my_matrix << std::endl; std::cout << my_matrix.transpose()<< std::endl; std::cout<<my_matrix.minCoeff(&i, &j)<<std::endl; std::cout<<my_matrix.maxCoeff(&i, &j)<<std::endl; std::cout<<my_matrix.prod()<<std::endl; std::cout<<my_matrix.sum()<<std::endl; std::cout<<my_matrix.mean()<<std::endl; std::cout<<my_matrix.trace()<<std::endl; std::cout<<my_matrix.colwise().mean()<<std::endl; std::cout<<my_matrix.rowwise().maxCoeff()<<std::endl; std::cout<<my_matrix.lpNorm<2>()<<std::endl; std::cout<<my_matrix.lpNorm<Eigen::Infinity>()<<std::endl; std::cout<<(my_matrix.array()>0).all()<<std::endl;// if all elemnts are positive std::cout<<(my_matrix.array()>2).any()<<std::endl;//if any element is greater than 2 std::cout<<(my_matrix.array()>1).count()<<std::endl;// count the number of elements greater than 1 std::cout << my_matrix.array() - 2 << std::endl; std::cout << my_matrix.array().abs() << std::endl; std::cout << my_matrix.array().square() << std::endl; std::cout << my_matrix.array() * my_matrix.array() << std::endl; std::cout << my_matrix.array().exp() << std::endl; std::cout << my_matrix.array().log() << std::endl; std::cout << my_matrix.array().sqrt() << std::endl; std::cout <<"//////////////////Block Elements Access////////////////////"<< std::endl; //Block of size (p,q), starting at (i,j) matrix.block(i,j,p,q) Eigen::MatrixXf mat(4, 4); mat << 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16; std::cout << "Block in the middle" << std::endl; std::cout << mat.block<2, 2>(1, 1) << std::endl; for (int i = 1; i <= 3; ++i) { std::cout << "Block of size " << i << "x" << i << std::endl; std::cout << mat.block(0, 0, i, i) << std::endl; } /////////////build matrix from vector, resizing matrix, dynamic size //////////////// Eigen::MatrixXd dynamicMatrix; int rows, cols; rows=3; cols=2; dynamicMatrix.resize(rows,cols); dynamicMatrix<<-1,7,3,4,5,1; //If you want a conservative variant of resize() which does not change the coefficients, use conservativeResize() dynamicMatrix.conservativeResize(dynamicMatrix.rows(), dynamicMatrix.cols()+1); dynamicMatrix.col(dynamicMatrix.cols()-1) = Eigen::Vector3d(1, 4, 0); dynamicMatrix.conservativeResize(dynamicMatrix.rows(), dynamicMatrix.cols()+1); dynamicMatrix.col(dynamicMatrix.cols()-1) = Eigen::Vector3d(5, -8, 6); /* you should expect this: 1 7 1 5 3 4 4 -8 5 1 0 6 */ std::cout<< dynamicMatrix<<std::endl; |
